ANSWER THIS QUESTION ACCURATELY. DO NOT ATTEMPT IF YOU DON'T KNOW WHAT YOU'RE DOING AND DO NOT USE AI/CHATGPT. I will find out. Link to reference textbook:https://hades.mech.northwestern.edu/images/7/7f/MR.pdf

Problem 1. (16 points) We are given an n-dof manipulator, where each link i, i = 1, . .., n, is assigned a body-fixed reference frame {} defined using the Denavit-Hartenberg convention. The fixed base frame is denoted by {0}, whereas the end-effector frame, denoted by {n + 1}, is always aligned with frame {n}. 1. Consider the case of two adjacent revolute joints, labeled i - 1 and i, respectively, as shown in Figure 1. axis i - 1 axis i Qi-1 V. yi-1 ai- 1 \\Xi-1 -41. Figure 1: Denavit-Hartenberg convention for two adjacent revolute joints. The given Denavit-Hartenberg parameters are di-1 = const, di-1 = const, di = const, whereas di = 0i, where 0; is the joint variable for joint {}. Find the expression of the screw axis of joint i resolved in the frame {i - 1}, denoted by Si-i,i E R6, when 0; = 0. 2. Consider the case of a revolute joint adjacent to a prismatic joint, labeled i - 1 and i, respectively, as shown in Figure 2. axis i - 1 axis i Zi Zi-1 di yi-1 ai-1 Figure 2: Denavit-Hartenberg convention for a revolute joint adjacent to a prismatic joint. In this case, the given Denavit-Hartenberg parameters are Qi-1 = const, di-1 = const, pi = const, whereas di = 0i, where 0; is the joint variable for joint {}. Find the expression of the screw axis of joint i resolved in the frame {i - 1}, denoted by Si-i,i ER6, when 0i = 0. 3. On the basis of the results obtained so far, compute the forward kinematics T(0) for the 4-dof manipulator whose DH-parameters are listed in Table 1, using the spatial formulation of the product of exponentials formula T(0) = elSi101 el$210zel$3103el$410 4 M where Si := So,i, i = 1, ...,n, is the expression of the screw axis of the i-th joint resolved in the base frame {0} at the home position, and M := T(0). Note: You only need to compute Si, i = 1, ..., 4, and M, not the matrix exponentials. Qi-1 ai-1 di -90 0 0 2 180 L1 0 02 3 90 0 03 0 0 L2 L3 04 Table 1: Denavit-Hartenberg parameters for a 4-dof manipulator 4. Compute the forward kinematics T'(0) for the 4-dof manipulator whose DH-parameters are listed in Table 1, using the body formulation of the product of exponentials formula T'(0) = MelB1101 el52102 el53103 elB4]04 where Bi := Sn+1,i, i = 1,...,n, is the expression of the screw axis of the i-th joint resolved in the end-effector frame {n + 1} at the home position, and M := T'(0). Note: You only need to compute Bi, i = 1, ..., 4, and M, not the matrix exponentials